Can you work out the days you have a big presentation? Try to be mindful. It's a message you're conveying, be "in" those words and the moment. Be ok with being passionate about it.
Try memorizing the structure of the speech, the main points, not each word. Put paused where you want to say Um.
Try the app called Orai.

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I continuously have feedback on looking nervous, repeating thoughts, long pauses, and not keeping eye contact despite a lot of practice. In the past, I’ve hyperfocused on memorizing my speeches and I cut a lot of these issues out, but I end up sounding robotic and forced.
Last night, I practiced a fake speech with my therapist to see if she could offer feedback, and she told me a lot of these reasons are due to ADHD. Being overstimulated with lights or people, distractions, and losing train of thought. She said to do your best staying mindful and present.
Do you all have any advice on how you all work through this? As consultants, we talk all day trying to impress :)

M1 I am the same - none my speeches on the same topic are the same.
I always do my best when I have a general idea where I want to go and I improvise. I lack the focus to practice a script. Some would call that winging it but it kinda works for me.
On the flip side I never speak to a slide - my phrasing is different the points are directional and I add color commentary.
given my poor working memory - I cannot memorize stuff.
So my advice to OP is to decouple content expertise from social ease. Work on them separately - 1)know the content and learn to use “weekend language” 2)figure out how to get comfortable talking about random s*** in large groups - tell stories about your weekend
DM me if you want to chat! I have ADHD and I have largely overcome my stage fright.

For me, as long as I know the content, I can speak to it. I never memorize because you do sound like a robot.
You’re going to have to find a way to relax yourself. If you don’t, you’ll always look and sound nervous.
If it’s virtual, don’t look at the participant list. Relax and deliver what you know. Remember that the audience doesn’t know what you don’t know.
If it’s in person, find someone in the audience to talk to, who makes you comfortable and talk to that person! You’ll have to remember to look around periodically.
Practicing definitely helps! Try to use your own thoughts and rephrase! You got this!! Good luck!